Target tracking method based on underwater mobile wireless sensor network

Abstract

The invention discloses a target tracking method based on an underwater mobile wireless sensor network, and belongs to the technical field of wireless sensor network target tracking. The method comprises: calculating positive and negative values of corresponding metric values based on current position information of sensors, dividing the sensors into two sets, and the height adjustment amount of the sensors with the positive metric values being a preset value; based on the determined candidate sensors, selecting M sensors as sensors participating in tracking; determining the current height ofeach sensor participating in tracking and sending the current height to the corresponding sensor; after the sensor moves to a specified height, sending a sound wave to measure the distance between thesensor and the tracking target, obtaining a measurement value of the tracking target and sending the measurement value to a calculation processing center; and the calculation processing center performing fusion estimation processing on the received measurement values of the M sensors to obtain the current state of the tracking target. According to the invention, the topological structure of the network is dynamically adjusted by using the adjustability of the sensor in the height direction, so that the target tracking accuracy is effectively improved.

Description

technical field [0001] The invention relates to the technical field of wireless sensor network target tracking, in particular to a target tracking technology based on mobile sensor network sensor scheduling. Background technique [0002] A wireless sensor network (WSN) consists of many sensor nodes randomly or strategically deployed in the monitoring field, and these nodes have detection, communication and computing capabilities. In view of its good autonomy, fault tolerance and low cost, it has been widely used in many fields. Target tracking is a complex estimation process, which needs to estimate the state of the target as accurately and quickly as possible through the information about the target returned by one or more sensors, including the position, velocity and acceleration of the target. The particularity of the underwater environment brings additional challenges to underwater targets. The energy of the underwater wireless sensor network is limited, making it impo...

AI Technical Summary

Problems solved by technology

However, the sensor selection technology can only select a better one from the fixed topology, and cannot adjust the topology of the sensor relative to the target.

[0003] At present, the existing underwater wireless sensor network target tracking has the following disadvantages: (1) limited to the improvement of tracking accuracy, without considering the impact and difficulties of target tracking in real application scenarios (2) limited to static networks, there is no Utilize the mobility of underwater sensors in the height direction to adjust the dynamic topology of the network (3) A few researches on the application of mobile sensor networks have not considered that the harshness of sensor performance will cause a significant increase in network costs, and at the same time Does not take into account the operability in real-world application scenarios

Images